Articulation mechanisms for tissue specimen retrieval devices and tissue specimen retrieval devices incorporating the same

ABSTRACT

A tissue specimen retrieval device includes a housing, an outer shaft extending from the housing, an end effector assembly extending from the outer shaft, an actuator associated with the housing, and an articulation mechanism operably coupled between the actuator and the end effector assembly. The articulation mechanism includes an articulation block supporting the end effector assembly thereon and is rotatable between first and second orientations to articulate the end effector assembly. A spring biases the articulation block towards the second orientation. An actuation sleeve is slidable relative to the articulation block, in response to actuation of the actuator, from an engaged position, wherein the actuation sleeve is disposed about and retains the articulation block in the first orientation, to a disengaged position, wherein the actuation sleeve is spaced from the articulation block such that the articulation block rotates to the second orientation to articulate the end effector assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a divisional of U.S. patent application Ser.No. 15/933,825, filed Mar. 23, 2018, now U.S. Pat. No. 10,792,057, theentire contents of which are incorporated herein by reference.

BACKGROUND Technical Field

The present disclosure relates to tissue specimen retrieval from aninternal body cavity and, more particularly, to articulation mechanismsfor tissue specimen retrieval devices and tissue specimen retrievaldevices incorporating the same to facilitate retrieval of a tissuespecimen from the internal body cavity.

Background of Related Art

In minimally-invasive surgical procedures, operations are carried outwithin an internal body cavity through small entrance openings in thebody. The entrance openings may be natural passageways of the body ormay be surgically created, for example, by making a small incision intowhich a cannula is inserted.

Minimally-invasive surgical procedures may be used for partial or totalretrieval of a tissue specimen from an internal body cavity. However,the restricted access provided by minimally-invasive openings (naturalpassageways and/or surgically created openings) presents challenges withrespect to maneuverability and visualization. The restricted access alsopresents challenges when the tissue specimen is required to be removed.As such, a tissue specimen that is deemed too large for intact retrievalmay be broken down into a plurality of smaller pieces to facilitateretrieval from the internal body cavity.

During such minimally-invasive surgical procedures, it is common that acyst, tumor, or other affected tissue specimen is required to beremoved. In these and other procedures where cancerous tissue isrequired to be removed, retrieval of the tissue specimen in an enclosedenvironment is highly desirable to inhibit seeding of cancer cells.Thus, with respect to breaking down large tissue specimens for retrievalthrough minimally-invasive openings, there is the added challenge ofdoing so within an enclosed environment.

SUMMARY

The present disclosure provides articulation mechanisms for tissuespecimen retrieval devices and tissue specimen retrieval devicesincorporating the same to facilitate retrieval of the tissue specimenfrom the internal body cavity. These and other aspects and features ofthe present disclosure are detailed below. As used herein, the term“distal” refers to the portion that is described which is further from auser, while the term “proximal” refers to the portion that is beingdescribed which is closer to a user. Further, any or all of the aspectsand features described herein, to the extent consistent, may be used inconjunction with any or all of the other aspects and features describedherein.

Provided in accordance with aspects of the present disclosure is atissue specimen retrieval device including a housing, an outer shaftextending distally from the housing and defining a longitudinal axis, anend effector assembly extending distally from the outer shaft in adeployed position of the end effector assembly, an actuator operablyassociated with the housing, and an articulation mechanism operablycoupled between the actuator and the end effector assembly. Thearticulation mechanism includes an articulation block supporting the endeffector assembly thereon and rotatable between a first orientation anda second orientation to thereby articulate the end effector assemblybetween an aligned position and an articulated position. Thearticulation mechanism further includes a spring operably associatedwith the articulation block and configured to bias the articulationblock towards the second orientation, and an actuation sleeve slidablerelative to the articulation block, in response to actuation of theactuator, from an engaged position, wherein the actuation sleeve isdisposed about the articulation block to thereby retain the articulationblock in the first orientation, to a disengaged position, wherein theactuation sleeve is positioned proximally of the articulation block suchthat the articulation block rotates to the second orientation under thebias of the spring to thereby articulate the end effector assembly fromthe aligned position to the articulated position.

In an aspect of the present disclosure, in the first orientation, thearticulation block defines a first operable dimension less than adiameter of the actuation sleeve to permit receipt of the articulationblock within the actuation sleeve and, in the second orientation, thearticulation block defines a second operable dimension greater than thediameter of the actuation sleeve to inhibit return of the articulationblock into the actuation sleeve.

In another aspect of the present disclosure, the actuation sleeve isfurther movable from the disengaged position to a locked position,wherein the actuation sleeve is moved to abut the second operabledimension of the articulation block, thereby locking the end effectorassembly in the articulated position or a further articulated position.

In still another aspect of the present disclosure, the articulationblock is pivotable about a pivot pin. In such aspects, the spring may bea torsion spring disposed about the pivot pin.

In yet another aspect of the present disclosure, the end effectorassembly includes first and second arms configured to support a tissuespecimen bag thereon.

In still yet another aspect of the present disclosure, the end effectorassembly is deployable relative to the outer shaft from a retractedposition, wherein the end effector assembly is disposed within the outershaft, to the deployed position. Another actuator may be provided andoperably associated with the housing to selectively deploy the endeffector assembly from the retracted position to the extended position.

Another tissue specimen retrieval device provided in accordance withaspects of the present disclosure includes a housing, an outer shaftextending distally from the housing and defining a longitudinal axis, anend effector assembly movable relative to the outer shaft, an actuatoroperably associated with the housing, an inner shaft operably coupled tothe actuator at a proximal end portion of the inner shaft and extendingdistally from the actuator through the housing and the outer shaft, andan articulation mechanism operably coupled between the inner shaft andthe end effector assembly. The articulation mechanism includes anarticulation block pivotably supported at a distal end portion of theinner shaft, supporting the end effector assembly thereon, and rotatablebetween a first orientation and a second orientation to therebyarticulate the end effector assembly between an aligned position and anarticulated position. A spring is operably associated with thearticulation block and configured to bias the articulation block towardsthe second orientation. In response to actuation of the actuator, theinner shaft is moved from an un-actuated position to an actuatedposition to move the articulation block from a proximal position,wherein the end effector assembly is disposed in a retracted positionwithin the outer shaft thereby retaining the articulation block in thefirst orientation against the bias of the spring, to a distal position,wherein the end effector assembly extends distally from the outer shaftto permit the articulation block to rotate to the second orientationunder the bias of the spring to thereby articulate the end effectorassembly from the aligned position to the articulated position.

In an aspect of the present disclosure, the articulation block ispivotable relative to the inner shaft about a pivot pin. In suchaspects, the spring may be a torsion spring disposed about the pivotpin.

In another aspect of the present disclosure, the end effector assemblyincludes first and second arms configured to support a tissue specimenbag thereon. In aspects, an operable dimension of the first and secondarms of the end effector assembly inhibit articulation of the endeffector assembly within the outer shaft in the retracted position.

In still another aspect of the present disclosure, the actuator isslidable relative to the housing between the un-actuated position andthe actuated position.

Another tissue specimen retrieval device provided in accordance withaspects of the present disclosure includes a housing, an outer shaftextending distally from the housing and defining a longitudinal axis, anend effector assembly extending distally from the outer shaft in adeployed position of the end effector assembly, an actuator operablyassociated with the housing, and an articulation mechanism operablycoupled between the actuator and the end effector assembly. Thearticulation mechanism includes an articulation block supporting the endeffector assembly thereon and rotatable about a pivot. First and secondactuation bars are coupled to the articulation block on respective firstand second sides of the pivot at respective distal end portions thereofand to the actuator at respective proximal end portions thereof.Actuation of the actuator from an un-actuated position to a firstactuated position moves the first actuation bar in a proximal directionand the second actuation bar in a distal direction to thereby rotate thearticulation block such that the end effector assembly is articulated ina first direction from an aligned position to a first articulatedposition. Actuation of the actuator from the un-actuated position to asecond actuated position moves the first actuation bar in the distaldirection and the second actuation bar in the proximal direction tothereby rotate the articulation block such that the end effectorassembly is articulated in a second, opposite direction from the alignedposition to a second articulated position.

In an aspect of the present disclosure, the actuator is actuated in onedirection from the un-actuated position to the first actuated positionand in an opposite direction from the un-actuated position to the secondactuated position.

In another aspect of the present disclosure, the actuator is movableabout a second pivot between the un-actuated position and the first andsecond actuated positions, and the first actuation bar is coupled to theactuator on a first side of the second pivot with the second actuationbar coupled to the actuator on a second, opposite side of the secondpivot.

In yet another aspect of the present disclosure, the end effectorassembly includes first and second arms configured to support a tissuespecimen bag thereon.

In still another aspect of the present disclosure, the end effectorassembly is deployable relative to the outer shaft from a retractedposition, wherein the end effector assembly is disposed within the outershaft, to the deployed position.

In still yet another aspect of the present disclosure, another actuatoris operably associated with the housing and configured to selectivelydeploy the end effector assembly from the retracted position to theextended position.

In another aspect of the present disclosure, the actuator istranslatable to deploy the end effector assembly and rotatable toarticulate the end effector assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects and features of the present disclosure willbecome more apparent in view of the following detailed description whentaken in conjunction with the accompanying drawings wherein likereference numerals identify similar or identical elements:

FIG. 1 is a side, perspective view of a tissue specimen retrieval deviceprovided in accordance with aspects of the present disclosure, whereinan end effector assembly of the tissue specimen retrieval device isdisposed in a retracted position;

FIG. 2 is a side, perspective view of the tissue specimen retrievaldevice of FIG. 1 , wherein the end effector assembly is disposed in adeployed, aligned position;

FIG. 3 is a side, perspective view of the tissue specimen retrievaldevice of FIG. 1 , wherein the end effector assembly is disposed in adeployed, articulated position;

FIG. 4A is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 1 , with the specimen bag removed, and the endeffector assembly disposed in the retracted position;

FIG. 4B is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 1 , with the specimen bag removed, and the endeffector assembly disposed in the deployed, aligned position;

FIG. 4C is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 1 , with the specimen bag removed, and the endeffector assembly disposed in the deployed, articulated position;

FIG. 4D is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 1 , with the specimen bag removed, and the endeffector assembly disposed in a deployed, further articulated, lockedposition;

FIG. 5A is a side, partial cross-sectional view of another tissuespecimen retrieval device provided in accordance with aspects of thepresent disclosure, with the specimen bag removed, and the end effectorassembly disposed in a partially-deployed, aligned position;

FIG. 5B is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 6A, with the specimen bag removed, and the endeffector assembly disposed in a deployed, articulated position;

FIG. 6A is a side, partial cross-sectional view of another tissuespecimen retrieval device provided in accordance with aspects of thepresent disclosure, with the specimen bag removed, and the end effectorassembly disposed in a deployed, aligned position;

FIG. 6B is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 6A, with the specimen bag removed, and the endeffector assembly disposed in a deployed, first articulated position;

FIG. 6C is a side, partial cross-sectional view of the tissue specimenretrieval device of FIG. 6A, with the specimen bag removed, and the endeffector assembly disposed in a deployed, second articulated position;and

FIG. 7 is a perspective view of the tissue specimen retrieval device ofFIG. 1 inserted through an access cannula into an internal body cavityfor retrieval of a tissue specimen therefrom.

DETAILED DESCRIPTION

The present disclosure provides articulation mechanisms for tissuespecimen retrieval devices and tissue specimen retrieval devicesincorporating the same to facilitate retrieval of tissue from theinternal body cavity.

Turning to FIGS. 1-4 A-D, a tissue specimen retrieval device provided inaccordance with the present disclosure is shown generally identified byreference numeral 100. Tissue specimen retrieval device 100 includes ahousing 110, first and second actuators 120, 130 operably associatedwith housing 110, an outer shaft 140 extending distally from housing110, an end effector assembly 150 selectively deployable from the distalend of outer shaft 140, and an articulation mechanism 180 configured toenable selective articulation of end effector assembly 150 relative toouter shaft 140 in the deployed position of end effector assembly 150.

Housing 110, although illustrated as defining a generally tubularconfiguration, may define any suitable configuration to facilitategrasping and manipulating tissue specimen retrieval device 100 such as,for example, a pencil-grip configuration, a pistol-grip configuration,etc., and may include any suitable features to enhance ergonomics suchas, for example, recesses, protrusions, textured surfaces, finger rings,etc.

First actuator 120 is operably associated with housing 110 and coupledto outer shaft 140 to enable selective extension and retraction of outershaft 140 relative to housing 110 and, thus, end effector assembly 150,to selectively move end effector assembly 150 between a retractedposition (FIG. 1 ) and a deployed position (FIG. 2 ) relative to outershaft 140 in response to actuation of first actuator 120. Alternatively,first actuator 120 may be coupled to end effector assembly 150 to enableselective extension and retraction of end effector assembly 150 relativeto housing 110 and, thus, outer shaft 140, to similarly move endeffector assembly 150 between a retracted position (FIG. 1 ) and adeployed position (FIG. 2 ) relative to outer shaft 140. First actuator120 may be configured as a sliding actuator slidable along housing 110,as illustrated, or may define any other suitable configuration such as,for example, a plunger actuator that is selectively manipulatablerelative to housing 110 along a longitudinal axis of housing 110, apivoting actuator pivotable relative to housing 110, etc.

Second actuator 130 is operably associated with housing 110 and coupledto articulation mechanism 180 (FIGS. 4A-4D) to enable selectivearticulation of end effector assembly 150 relative to outer shaft 140,once deployed from outer shaft 140, between an aligned position (FIG. 2) and an articulated position (FIG. 3 ), in response to actuation ofsecond actuator 130. Second actuator 130 may be configured as a plungeractuator that is selectively manipulatable relative to housing 110 alonga longitudinal axis of housing 110, as illustrated, or may define anyother suitable configuration such as, for example, a pivoting actuatorpivotable relative to housing 110, a sliding actuator slidable alonghousing 110, etc.

Continuing with reference to FIGS. 1-4 A-D, outer shaft 140 extendsdistally from housing 110, as noted above, and is configured forinsertion through an access cannula “C” (FIG. 7 ) or natural passagewayinto an internal body cavity “B” (FIG. 7 ). Outer shaft 140 may besubstantially rigid (within manufacturing tolerances and in response toreasonable loads applied thereto) or may include one or more portionsconfigured to flex and/or articulate relative to a longitudinal axisthereof. A lumen 142 extends longitudinally through outer shaft 140.Outer shaft 140, as noted above, is slidable relative to housing 110 andend effector assembly 150 to enable selective deployment of end effectorassembly 150 from outer shaft 140. More specifically, outer shaft 140 ismovable between a distal position, corresponding to the retractedposition of end effector assembly 150 (see FIG. 1 ), wherein endeffector assembly 150 is disposed within lumen 142 of outer shaft 140,and a proximal position, corresponding to the deployed position of endeffector assembly 150 (FIG. 2 ), wherein end effector assembly 150extends distally from outer shaft 140. As an alternative to outer shaft140 moving relative to housing 110 to deploy end effector assembly 150,as also noted above, end effector assembly 150 may be selectivelymovable relative to housing 110 and outer shaft 140 to enable deploymentof end effector assembly 150 from outer shaft 140 from the retractedposition (FIG. 1 ) to the deployed position (FIG. 2 ).

End effector assembly 150 includes a pair of arms 152, 154 and a tissuespecimen bag 160 depending from arms 152, 154. Arms 152, 154 areconfigured for positioning within one or more channels 152, 154 formedabout at least a portion of open end 166 of tissue specimen bag 160 toretain tissue specimen bag 160 on arms 152, 154. In the retractedposition of end effector assembly 150, arms 152, 154 may be resilientlyflexed inwardly to enable accommodation of arms 152, 154 within lumen142 of outer shaft 140. Tissue specimen bag 160 may be furled, folded,or otherwise positioned in the retracted position of end effectorassembly 150 to enable accommodation of tissue specimen bag 160 withinlumen 142 of outer shaft 140. Upon deployment of end effector assembly150 form outer shaft 140, arms 152, 154 are configured to resilientlyreturn to a spaced-apart, curved configuration for retaining tissuespecimen bag 160 thereon in an open condition, thus enabling insertionof a tissue specimen “T” (FIG. 7 ) through open end 166 of tissuespecimen bag 160 and into the interior thereof. The resilient return ofarms 152, 154 may also serve to unfold, unfurl, or otherwise manipulatetissue specimen bag 160 upon deployment from outer shaft 140.

Tissue specimen bag 160 may be formed from any suitable bio-compatiblematerial (or materials), e.g., ripstop nylon, configured to retain atissue specimen “T” (FIG. 7 ) therein. As noted above, tissue specimenbag 160 depends from arms 152, 154 in the deployed position of endeffector assembly 150 such that articulation of arms 152, 154 likewisearticulates tissue specimen bag 160. Tissue specimen bag 160 defines atleast one opening, e.g., at open end 166 thereof, and includes one ormore channels 162, 164 formed about open end 166 thereof for receipt ofarms 152, 154, respectively, therein. The one or more channels 162, 164may be separate or in communication with one another, and/or may extendabout only a portion of open end 166 of tissue specimen bag 160 or aboutthe entirety perimeter thereof. One or more of the openings of tissuespecimen bag 160, e.g., open end 166, may include a cinch cord (notshown) disposed thereabout to enable selective closure of the opening.Tissue specimen bag 160 may be disengaged from arms 152, 154 uponcinching closed open end 166 of tissue specimen bag 160, retraction ofend effector assembly 150 back towards the retracted position (FIG. 1 ),using a separate instrument, e.g., grasping device, and/or in any othersuitable manner.

With reference to FIGS. 4A-4D, an inner shaft 170 extends through outershaft 140 and pivotably supports end effector assembly 150 at a distalend portion of inner shaft 170 via a pivot pin 172 and an articulationblock 182 of articulation mechanism 180. In embodiments, such as theillustrative embodiment, where end effector assembly 150 islongitudinally fixed relative to housing 110 and outer shaft 140 ismovable relative to end effector assembly 150 and housing 110 to deployend effector assembly 150, inner shaft 170 is longitudinally fixed tohousing 110 at a proximal end portion of inner shaft 170. Inembodiments, on the other hand, where outer shaft 140 is longitudinallyfixed relative to housing 110 and end effector assembly 150 is movablerelative to outer shaft 140 and housing 110 to deploy end effectorassembly 150, inner shaft 170 is operably coupled to first actuator 120at a proximal end portion of inner shaft 170 to enable movement of innershaft 170 relative to housing 110 in response to actuation of firstactuator 120.

In embodiments, a rotation knob (not shown) associated with housing 110and operably coupled to end effector assembly 150, e.g., via inner shaft170, may be provided to enable selective rotation of end effectorassembly 150 about the longitudinal axis of outer shaft 140 and relativeto housing 110.

Referring to FIGS. 4A-4D, articulation mechanism 180 operably couplessecond actuator 130 with arms 152, 154 of end effector assembly 150 toenable selective articulation of end effector assembly 150 (and, thus,tissue specimen bag 160 (FIGS. 2 and 3 )) relative to outer shaft 140when end effector assembly 150 is disposed in the deployed position(FIGS. 2 and 3 ). Articulation mechanism 180 includes an articulationblock 182, a torsion spring 184, and an actuation sleeve 186 that isslidably disposed within outer shaft 140 and about inner shaft 170.

Articulation block 182 is pivotably coupled to inner shaft 170 via pivotpin 172 and supports proximal ends of arms 152, 154 of end effectorassembly 150 thereon such that rotation of articulation block 182 aboutpivot pin 172 articulates arms 152, 154 relative to outer shaft 140.Articulation block 182 defines a generally rectangular configurationhaving a length greater than a diameter of actuation sleeve 186 and awidth less than the diameter of actuation sleeve 186 such that, in afirst orientation, wherein the length of articulation block 182 issufficiently aligned on the longitudinal axis of outer shaft 140,articulation block 182 is capable of being received within actuationsleeve 186 and such that, in at least one second orientation, whereinthe length of articulation block 182 is sufficiently angled relative toactuation sleeve 186, articulation block 182 is inhibited from beingreceived within actuation sleeve 186. In embodiments, in one secondorientation, the width of articulation block 182 is aligned on thelongitudinal axis of outer shaft 140 such that articulation block 182rotates 90 degrees between the first and second orientations, althoughadditional or alternative second orientation angles, e.g., 45 degrees,60 degrees, etc., are also contemplated. In order to accommodate one ormore second orientation positions, in embodiments, articulation block182 may define any other suitable shape having at least two dimensionswherein one of the dimensions is greater than the diameter of actuationsleeve 186 and the other of the dimensions is less than the diameter ofactuation sleeve 186.

Torsion spring 184 is disposed about pivot pin 172 and coupled toarticulation block 182 to bias articulation block 182 towards the secondorientation, wherein the width of articulation block 182 inhibits thereturn of articulation block 182 into actuation sleeve 186. Articulationblock 182 is initially disposed within actuation sleeve 186 such thatarticulation block 182 is maintained in the first orientation againstthe bias of torsion spring 184.

Actuation sleeve 186, as mentioned above, is slidably disposed withinouter shaft 140 and about inner shaft 170. Actuation sleeve 186 iscoupled to second actuator 130 at a proximal end portion of actuationsleeve 186 such that actuation of second actuator 130 translatesactuation sleeve 186 between an engaged position (FIG. 4B), whereinactuation sleeve 186 is disposed at least partially about articulationblock 182 to maintain articulation block 182 in the first orientationagainst the bias of torsion spring 184, and a disengaged position (FIG.4C), wherein actuation sleeve 186 is proximally-spaced from articulationblock 182 to enable articulation block 182 to rotate to the at least onesecond orientation under the bias of torsion spring 184. Actuationsleeve 186 may further be moved from the disengaged position (FIG. 4C)to a locked position (FIG. 4D), wherein actuation sleeve 186 abutsarticulation block 182, thereby locking articulation block 182 in one ofthe second orientations by inhibiting return thereof towards the firstorientation. The second orientation corresponding to the disengagedposition (FIG. 4C) may be the same as the second orientationcorresponding to the locked position (FIG. 4D), e.g., both 90 degreesfrom the first orientation, or may be different, wherein, upon movementto the locked position, actuation sleeve 186 urges articulation block182 to rotate further before abutting articulation block 182 in thelocked position (FIG. 4D) such that the second orientation correspondingto the disengaged position (FIG. 4C) is different from the secondorientation corresponding to the locked position (FIG. 4D), e.g., 45degrees and 90 degrees, respectively, from the first orientation.

With reference to FIGS. 1-4D and 7 , and initially to FIGS. 1 and 4A, inuse, end effector assembly 150 is initially disposed in the retractedposition to facilitate insertion of tissue specimen retrieval device 100through an access cannula “C” (FIG. 7 ) or natural passageway into aninternal body cavity “B” (FIG. 7 ). Further, actuation sleeve 186 isinitially disposed in the engaged position, wherein actuation sleeve 186is disposed at least partially about articulation block 182 to maintainarticulation block 182 in the first orientation against the bias oftorsion spring 184.

Once tissue specimen retrieval device 100 is disposed within theinternal body cavity “B” (FIG. 7 ) as desired, and with reference toFIGS. 2 and 4B, end effector assembly 150 is deployed from outer shaft140 by actuating first actuator 120 from a more-distal position to amore-proximal position to thereby withdraw outer shaft 140 proximallyfrom about end effector assembly 150 such that end effector assembly 150is deployed to the deployed position. At this point, end effectorassembly 150 remains aligned on the longitudinal axis of outer shaft 140and actuation sleeve 186 remains disposed in the engaged position.

Referring to FIG. 4C, if it is desired to articulate end effectorassembly 150 relative to outer shaft 140 after end effector assembly 150is deployed from outer shaft 140, second actuator 130 is movedproximally from a closer position relative to housing 110 to a furtherproximally-spaced position relative to housing 110 to thereby slideactuation sleeve 186 proximally about and relative to end effectorassembly 150 and articulation block 182 from the engaged position (FIG.4B) to the disengaged position (FIG. 4C), such that actuation sleeve 186is proximally-spaced from articulation block 182 to enable articulationblock 182 to rotate to the second orientation under the bias of torsionspring 184, thereby articulating end effector assembly 150 relative toouter shaft 140. More specifically, articulation block 182, once nolonger constrained by actuation sleeve 186, may be configured to move,under the bias of torsion spring 184, to any suitable articulatedposition relative to outer shaft 140 such as, for example, a 45 degreearticulated position, 60 degree articulated position, or a 90 degreearticulated position, to similarly articulate end effector assembly 150relative to outer shaft 140. With actuation sleeve 186 disposed in thedisengaged position (FIG. 4C), end effector assembly 150 is disposed inan articulated position relative to outer shaft 140 but may be urgedback towards alignment with the longitudinal axis of outer shaft 140 ormay be articulated further off of the longitudinal axis of outer shaft140, e.g., in response to sufficient force on end effector assembly 150to overcome the biasing force of torsion spring 184.

With reference to FIG. 4D, in order to lock end effector assembly 150 inan articulated position, e.g., the same or a different secondorientation as end effector assembly 150 is positioned under the bias oftorsion spring 184, second actuator 130 is returned proximally towardsthe closer position relative to housing 110 to thereby return actuationsleeve 186 distally relative to articulation block 182. However, insteadof receiving articulation block 182 therein, actuation sleeve 186 ismoved to a locked position wherein actuation sleeve 186 abutsarticulation block 182. As noted above, actuation sleeve 186 may abutarticulation block 182 to maintain articulation block 182 in the samesecond orientation, or may further urge articulation block 182 to rotatebefore locking articulation block 182 in a further articulated secondorientation. In either configuration, locking is achieved because, witharticulation block 182 disposed in one of the second orientations,articulation block 182 is inhibited from passing into actuation sleeve186. Rather, actuation sleeve 186 abuts articulation block 182 on eitherside of pivot pin 172 to inhibit pivoting of articulation block 182 fromthe second orientation, thereby locking end effector assembly 150 in thearticulated position.

Turning momentarily to FIG. 7 , the above-detailed articulation of endeffector assembly 150 of tissue specimen retrieval device 100facilitates orientation of open end 166 of tissue specimen bag 160 in anappropriate position within the internal body cavity “B” to facilitatepositioning of a tissue specimen “T” therein.

End effector assembly 150 may be returned to the retracted position,which also serves to return end effector assembly 150 to the alignedposition, by actuating first actuator 120 from the more-proximalposition to the more-distal position to advance outer shaft 140 aboutend effector assembly 150. As such, end effector assembly 150 is movedto the aligned position and returned to the retracted position tofacilitate retrieval of end effector assembly 150 from the internal bodycavity “B.”

Referring to FIGS. 5A and 5B, another tissue specimen retrieval deviceprovided in accordance with the present disclosure is shown generallyidentified by reference numeral 200. Tissue specimen retrieval device200 includes a housing 210, an actuator 230 operably associated withhousing 210, an outer shaft 240 extending distally from housing 210, anend effector assembly 250 selectively deployable from the distal end ofouter shaft 240, and an articulation mechanism 280 configured to enableselective articulation of end effector assembly 250 relative to outershaft 240. Tissue specimen retrieval device 200 is similar to tissuespecimen retrieval device 100 (FIGS. 1-4D and 7 ) and may include any ofthe features thereof, except as specifically contradicted below.

Actuator 230 of tissue specimen retrieval device 200 is operablyassociated with housing 210 and coupled to articulation mechanism 280 toenable both selective movement of end effector assembly 250 between aretracted position and a deployed position (FIG. 5B) relative to outershaft 240, and to articulate end effector assembly 250 relative to outershaft 240 upon deployment of end effector assembly 250 from outer shaft240. Actuator 230 may be configured as a plunger actuator that isselectively manipulatable relative to housing 210 along a longitudinalaxis of housing 210, as illustrated, or may define any other suitableconfiguration.

Outer shaft 240 is fixed relative to and extends distally from housing210, while an inner shaft 270 extends through outer shaft 240 andpivotably supports end effector assembly 250 at a distal end portion ofinner shaft 270 via a pivot pin 272 and an articulation block 282 ofarticulation mechanism 280. Inner shaft 270 is operably coupled toactuator 230 at a proximal end portion of inner shaft 270 to enablemovement of inner shaft 270 relative to housing 210 and through outershaft 240 in response to actuation of actuator 230. More specifically,movement of actuator 230 distally from a further proximally-spacedposition relative to housing 110 to a closer position relative tohousing 110 moves inner shaft 270 distally through outer shaft 240 tomove end effector assembly 250 to the deployed position, wherein endeffector assembly 250 extends distally from outer shaft 240.

Articulation mechanism 280 operably couples actuator 230 with arms 252,254 of end effector assembly 250 and includes an articulation block 282and a torsion spring 284. Articulation block 282 is pivotably coupled toinner shaft 270 via pivot pin 272 and supports proximal ends of arms252, 254 of end effector assembly 250 thereon such that rotation ofarticulation block 282 about pivot pin 272 articulates arms 252, 254relative to outer shaft 240. Articulation block 282 is rotatable aboutpivot pin 272 between a first orientation, corresponding to an alignedposition of end effector assembly 250 relative to a longitudinal axis ofouter shaft 240, and a second orientation, corresponding to anarticulated position of end effector assembly 250 relative to thelongitudinal axis of outer shaft 240. In embodiments, articulation block282 rotates 90 degrees between the first and second orientations,although other suitable rotation angles, e.g., 45 degrees, 60 degrees,etc., are also contemplated.

Torsion spring 284 is disposed about pivot pin 272 and coupled toarticulation block 282 to bias articulation block 282 towards the secondorientation. Prior to deployment of end effector assembly 250,articulation block 282 is disposed within outer shaft 240, wherein arms252, 254 of end effector assembly 250 are constrained in a substantiallyaligned position relative to the longitudinal axis of outer shaft 240via outer shaft 240, thereby maintaining articulation block 282 in thefirst orientation against the bias of torsion spring 284.

Continuing with reference to FIGS. 5A and 5B, in use, end effectorassembly 250 is initially disposed in the retracted position tofacilitate insertion of tissue specimen retrieval device 200 through anaccess cannula “C” (FIG. 7 ) or natural passageway into an internal bodycavity “B” (FIG. 7 ). Once tissue specimen retrieval device 200 isdisposed within the internal body cavity “B” (FIG. 7 ) as desired, endeffector assembly 250 is deployed from outer shaft 240 and articulatedto the articulated position by actuating actuator 230 distally from thefurther proximally-spaced position relative to housing 210 to the closerposition relative to housing 210. As end effector assembly 250 is nolonger constrained by outer tube 240, articulation block 282, under thebias of torsion spring 284, rotates about pivot pin 272 to the secondorientation, to similarly articulate end effector assembly 250 relativeto outer shaft 240 to any suitable articulated position relative toouter shaft 240 such as, for example, a 90 degree articulated position.In order to return end effector assembly 250 to the retracted position,actuator 230 is returned proximally from the closer position relative tohousing 210 to the further proximally-spaced position relative tohousing 210.

Turning now to FIGS. 6A-6C, another tissue specimen retrieval deviceprovided in accordance with the present disclosure is shown generallyidentified by reference numeral 300. Tissue specimen retrieval device300 includes a housing 310, first and second actuators 320, 330 operablyassociated with housing 310, an outer shaft 340 extending distally fromhousing 310, an end effector assembly 350 selectively deployable fromthe distal end of outer shaft 340, and an articulation mechanism 380configured to enable selective articulation of end effector assembly 350relative to outer shaft 340. Tissue specimen retrieval device 300 issimilar to tissue specimen retrieval device 100 (FIGS. 1-4D and 7 ) andmay include any of the features thereof, except as specificallycontradicted below.

First actuator 320 is operably associated with housing 310 and coupledto outer shaft 340 to enable selective retraction and extension of outershaft 340 relative to housing 310 and, thus, end effector assembly 350,to selectively move end effector assembly 350 between a retractedposition and a deployed position relative to outer shaft 340 in responseto actuation of first actuator 320, similarly as detailed above withrespect to tissue specimen retrieval device 100 (FIGS. 1-4D and 7 ).

Second actuator 330 is operably associated with housing 310 and coupledto articulation mechanism 380 to enable selective articulation of endeffector assembly 350 relative to outer shaft 340, once deployed fromouter shaft 340, between an aligned position (FIG. 6A) and a pluralityof articulated positions (FIGS. 6B and 6C), in response to actuation ofsecond actuator 330. Second actuator 330, more specifically, ispivotably coupled to housing 310 about a pivot pin 332 and pivotablerelative thereto from a neutral position (FIG. 6A) to a positive pivotedposition (FIG. 6B) and a negative pivoted position (FIG. 6C) in order toarticulate end effector assembly 350 from an aligned position (FIG. 6A)to a first articulated position (FIG. 6B) and a second articulatedposition (FIG. 6C), respectively. Second actuator 330 may be configuredas a tilting actuator, as illustrated, or may be configured as rotationknob rotatable about pivot pin 332 (wherein the positive and negativepositions are rotational positions in opposite directions from a neutralposition of the rotation knob).

An inner shaft 370 extends through outer shaft 340 and pivotablysupports end effector assembly 350 at a distal end portion of innershaft 370 via a pivot pin 372 and an articulation block 382 ofarticulation mechanism 380. Inner shaft 370 is fixed relative to housing310 and outer shaft 340 is movable relative thereto to deploy andretract end effector assembly 350 or, in other embodiments, outer shaft340 is fixed relative to housing 310 and inner shaft 370 is movablerelative thereto to deploy and retract end effector assembly 350. Inembodiments where inner shaft 370 is movable, first actuator 320 may beeliminated and inner shaft 370 couples second actuator 330 with secondactuator 330 also being longitudinally movable relative to housing 310.In such embodiments, longitudinal movement of second actuator 330relative to housing 310 moves inner shaft 370 through outer shaft 340 todeploy and retract end effector assembly 350, while pivoting of secondactuator 330 relative to housing 310, as noted above, articulates endeffector assembly 350 relative to housing 310.

Continuing with reference to FIGS. 6A-6C, articulation mechanism 380operably couples second actuator 330 with arms 352 of end effectorassembly 350 to enable selective articulation of end effector assembly350 relative to outer shaft 340 when end effector assembly 350 isdisposed in the deployed position. Articulation mechanism 380 includesan articulation block 382, a first actuation bar 386, and a secondactuation bar 388.

Articulation block 382 is pivotably coupled to inner shaft 370 via pivotpin 372 extending through a central portion 383 of articulation block382 and supports proximal ends of arms 352 of end effector assembly 350thereon such that rotation of articulation block 382 about pivot pin 372articulates arms 352 relative to outer shaft 340. First actuation bar386 is pivotably coupled at a distal end portion thereof to articulationblock 382 on one side of central portion 383 (and, thus, on one side ofpivot pin 372), while second actuation bar 388 is pivotably coupled at adistal end portion thereof to articulation block 382 on the other sideof central portion 383 (and, thus, on the other side of pivot pin 372).The proximal end portions of first and second actuation bars 386, 388,respectively, are coupled to second actuator 330 via pin and slotengagements 387, 389, respectively, on opposing sides of pivot pin 332.

As a result of the above-detailed configuration, pivoting of secondactuator 330 relative to housing 310 from the neutral position (FIG. 6A)to the positive pivoted position (FIG. 6B) pulls first actuation bar 386proximally and pushes second actuation bar 388 distally, thereby urgingarticulation block 382 to rotate in a first direction, e.g.,counter-clockwise from the orientation illustrated in FIGS. 6A-6C, thusarticulating end effector assembly 350 in a first direction off of thelongitudinal axis of outer shaft 340. On the other hand, pivoting ofsecond actuator 330 relative to housing 310 from the neutral position(FIG. 6A) to the negative pivoted position (FIG. 6C) pushes firstactuation bar 386 distally and pulls second actuation bar 388proximally, thereby urging articulation block 382 to rotate in a second,opposite direction, e.g., clockwise from the orientation illustrated inFIGS. 6A-6C, thus articulating end effector assembly 350 in a second,opposite direction off of the longitudinal axis of outer shaft 340.

In use, end effector assembly 350 is initially disposed in the retractedposition to facilitate insertion of tissue specimen retrieval device 300through an access cannula “C” (FIG. 7 ) or natural passageway into aninternal body cavity “B” (FIG. 7 ). Once tissue specimen retrievaldevice 300 is disposed within the internal body cavity “B” (FIG. 7 ) asdesired, end effector assembly 350 is deployed from outer shaft 340 andarticulated to a desired position by actuating first actuator 320 andsecond actuator 330, respectively. In order to return end effectorassembly 350 to the retracted position, first actuator 320 is returnedto its initial position.

From the foregoing and with reference to the various drawings, thoseskilled in the art will appreciate that certain modifications can bemade to the present disclosure without departing from the scope of thesame. While several embodiments of the disclosure have been shown in thedrawings, it is not intended that the disclosure be limited thereto, asit is intended that the disclosure be as broad in scope as the art willallow and that the specification be read likewise. Therefore, the abovedescription should not be construed as limiting, but merely asexemplifications of particular embodiments. Those skilled in the artwill envision other modifications within the scope and spirit of theclaims appended hereto.

What is claimed is:
 1. A tissue specimen retrieval device, comprising: ahousing; an outer shaft extending distally from the housing and defininga longitudinal axis; an end effector assembly movable relative to theouter shaft; an actuator operably associated with the housing; an innershaft operably coupled to the actuator at a proximal end portion of theinner shaft, the inner shaft extending distally from the actuatorthrough the housing and the outer shaft, wherein the actuator ismoveable to translate the inner shaft within the outer shaft; and anarticulation mechanism operably coupled between the inner shaft and theend effector assembly, the articulation mechanism including: anarticulation block pivotably supported at a distal end portion of theinner shaft and supporting the end effector assembly at the distal endportion, the articulation block rotatable between a first orientationand a second orientation to thereby articulate the end effector assemblybetween an aligned position and an articulated position; and a springoperably associated with the articulation block and configured to biasthe articulation block towards the second orientation, wherein, inresponse to actuation of the actuator, the inner shaft is moved from anun-actuated position to an actuated position to move the articulationblock from a proximal position, wherein the end effector assembly isdisposed in a retracted position within the outer shaft therebyretaining the articulation block in the first orientation against thebias of the spring, to a distal position, wherein the end effectorassembly extends distally from the outer shaft to permit thearticulation block to rotate to the second orientation under the bias ofthe spring to thereby articulate the end effector assembly from thealigned position to the articulated position.
 2. The tissue specimenretrieval device according to claim 1, wherein the articulation block ispivotable relative to the inner shaft about a pivot pin.
 3. The tissuespecimen retrieval device according to claim 2, wherein the spring is atorsion spring disposed about the pivot pin.
 4. The tissue specimenretrieval device according to claim 1, wherein the end effector assemblyincludes first and second arms configured to support a tissue specimenbag thereon.
 5. The tissue specimen retrieval device according to claim4, wherein an operable dimension of the first and second arms of the endeffector assembly inhibit articulation of the end effector assemblywithin the outer shaft in the retracted position.
 6. The tissue specimenretrieval device according to claim 1, wherein the actuator is slidablerelative to the housing between the un-actuated position and theactuated position.
 7. A tissue specimen retrieval device, comprising: ahousing; an outer shaft extending distally from the housing and defininga longitudinal axis; an end effector assembly extending distally fromthe outer shaft in a deployed position of the end effector assembly; anactuator operably associated with the housing; and an articulationmechanism operably coupled between the actuator and the end effectorassembly, the articulation mechanism including: an articulation blocksupporting the end effector assembly thereon, the articulation blockrotatable about a pivot; and first and second actuation bars coupled tothe articulation block on respective first and second sides of the pivotat respective distal end portions thereof and to the actuator atrespective proximal end portions thereof, wherein actuation of theactuator from an un-actuated position to a first actuated position movesthe first actuation bar in a proximal direction and the second actuationbar in a distal direction to thereby rotate the articulation block suchthat the end effector assembly is articulated in a first direction froman aligned position to a first articulated position, and whereinactuation of the actuator from the un-actuated position to a secondactuated position moves the first actuation bar in the distal directionand the second actuation bar in the proximal direction to thereby rotatethe articulation block such that the end effector assembly isarticulated in a second, opposite direction from the aligned position toa second articulated position.
 8. The tissue specimen retrieval deviceaccording to claim 7, wherein the actuator is actuated in one directionfrom the un-actuated position to the first actuated position and in anopposite direction from the un-actuated position to the second actuatedposition.
 9. The tissue specimen retrieval device according to claim 8,wherein the actuator is movable about a second pivot between theun-actuated position and the first and second actuated positions, andwherein the first actuation bar is coupled to the actuator on a firstside of the second pivot and wherein the second actuation bar is coupledto the actuator on a second, opposite side of the second pivot.
 10. Thetissue specimen retrieval device according to claim 7, wherein the endeffector assembly includes first and second arms configured to support atissue specimen bag thereon.
 11. The tissue specimen retrieval deviceaccording to claim 7, wherein the end effector assembly is deployablerelative to the outer shaft from a retracted position, wherein the endeffector assembly is disposed within the outer shaft, to the deployedposition.
 12. The tissue specimen retrieval device according to claim11, further comprising another actuator operably associated with thehousing and configured to selectively deploy the end effector assemblyfrom the retracted position to the extended position.
 13. The tissuespecimen retrieval device according to claim 11, wherein the actuator istranslatable to deploy the end effector assembly and rotatable toarticulate the end effector assembly.
 14. A tissue specimen retrievaldevice, comprising: a housing; an outer shaft extending distally fromthe housing and defining a longitudinal axis; an end effector assemblymovable relative to the outer shaft; an actuator operably associatedwith the housing; an inner shaft operably coupled to the actuator at aproximal end portion of the inner shaft, the inner shaft extendingdistally from the actuator through the housing and the outer shaft; andan articulation mechanism operably coupled between the inner shaft andthe end effector assembly, the articulation mechanism including: anarticulation block pivotably supported at a distal end portion of theinner shaft and supporting the end effector assembly thereon, thearticulation block rotatable between a first orientation in which thearticulation block is substantially aligned with the inner shaft, asecond orientation in which the articulation block is rotated at anangle less than ninety degrees with respect to the inner shaft, and athird orientation in which the articulation block is substantiallyperpendicular to the inner shaft; and a spring operably associated withthe articulation block and configured to bias the articulation blocktowards the second orientation, wherein, in response to actuation of theactuator, the inner shaft is moved from an un-actuated position to anactuated position to move the articulation block from a proximalposition, wherein the end effector assembly is disposed in a retractedposition within the outer shaft thereby retaining the articulation blockin the first orientation against the bias of the spring, to a distalposition, wherein the end effector assembly extends distally from theouter shaft to permit the articulation block to rotate to the secondorientation under the bias of the spring.
 15. The tissue specimenretrieval device according to claim 14, wherein the articulation blockis pivotable relative to the inner shaft about a pivot pin.
 16. Thetissue specimen retrieval device according to claim 15, wherein thespring is a torsion spring disposed about the pivot pin.
 17. The tissuespecimen retrieval device according to claim 14, wherein the endeffector assembly includes first and second arms configured to support atissue specimen bag thereon.
 18. The tissue specimen retrieval deviceaccording to claim 17, wherein an operable dimension of the first andsecond arms of the end effector assembly inhibit articulation of the endeffector assembly within the outer shaft in the retracted position. 19.The tissue specimen retrieval device according to claim 14, wherein theactuator is slidable relative to the housing between the un-actuatedposition and the actuated position.
 20. The tissue specimen retrievaldevice according to claim 14, wherein the articulation block is rotatedfrom the second orientation to the third orientation by a force appliedfrom the outer shaft to the articulation block.